200920541 九、發明說明 【發明所屬之技術領域】 本發明係關於工具交換裝置，詳而言之是關於能將 設於工作機械的主軸之工具進行自動交換之工具交換裝 【先前技術】 已知有一種工作機械，能用單一裝置來對工件進行 攻螺紋」、「鑽孔」等複數的加工。該工作機械係具備 具交換裝置（ATC)。工具交換裝置（ATC)，係將螺 攻和鑽頭等多數個工具預先收納於既定的收納部位，而 加工作業完成後的工具和下個加工所需的工具進行自動 換。日本特開平2- 15 93 6號公報記載之工具交換裝置， 令主軸頭在垂直方向（Z軸方向）移動，以在其和固定 框架之工具匣之間，利用凸輪機構來進行工具交換。 在第8圖所示之習知的工具交換裝置200，在匣 202的中心，支承軸201將匣座202支承成可旋轉。在 座202的外周，在以支承軸201爲中心之圓周方向以既 的中心角固定著複數個支點台251。各支點台251，係 過支承軸252將夾持臂250支承成可旋動。夾持臂250 支承軸2 5 2的附近，朝主軸頭（圖示省略）側將凸輪從 件2 5 3支承成可旋轉。凸輪從動件2 5 3，可抵接於主軸 之前面所設的凸輪體（圖示省略）之傾斜面。當主軸頭 下移動時，夾持臂250之凸輪從動件253會在主軸頭之 裝 置 工 絲 對 交 係 於 座 匣 定 透 在 動 頭 上 凸 200920541 輪體的傾斜面上滑動。位於夾持臂250的一端部之把持部 255，可在接近主軸之接近位置與遠離主軸之退避位置（ 第8圖所示之夾持臂25 0的位置）之間旋動。 在夾持臂2 5 0的另一端側，設置肓孔（有底孔）2 5 6 。在盲孔（有底孔）2 5 6內，收納著壓縮螺旋彈簧2 5 7和 鋼球25 8。鋼球25 8的一部分是從盲孔（有底孔）25 6的 開口突出。在匣座202之軸套部202a，外插著鐵製之夾持 支承軸環210。夾持支承軸環210之外周具有截面圓弧形 的導引面211。鋼球258是抵接於導引面211。匣座202 的外周面，隔既定間隔設有朝前述導引面2 1 1開口之溝槽 2 12。處於定位待機狀態之夾持臂250，係藉由將鋼球258 嵌入溝槽212而使姿勢保持穩定。 【發明內容】 第8圖所示之工具交換裝置200之鐵製的夾持支承軸 環210’會和匣座2 02 —起旋轉。習知之工具交換裝置 2〇〇’施加於匣座202的重量較重，而存在匣座202無法 快速旋轉的問題點。 本發明之目的係爲了提供一種可減輕施加於匣座202 的重量之工具交換裝置。 爲了達成上述目的，請求項1之發明的工具交換裝置 ’係具備：將工作機械的主軸支承成可旋轉之主軸頭、將 前述主軸頭支承成可上下移動之機柱、能以一軸線爲中心 進行旋轉定位之匣本體、固定於前述機柱且將前述匣本體 -5- 200920541 支承成可旋轉之支承構件、在一端側具有把持部（用來把 持工具）且在前述匣本體的外周設置成放射狀之複數個夾 持臂、以及在前述夾持臂之前述一端側和另端側之間進行 支承且固定於前述匣本體的外周之支點台；藉由將旋轉定 位後之前述夾持臂以前述支點台爲中心進行旋動，使前述 把持部在接近前述主軸的接近位置和遠離前述主軸的退避 位置之間進行往復移動之工具交換裝置；其特徵在於：係 具備導引構件，用來將前述夾持臂之前述另端側在前述匣 本體和前述主軸頭之間進行導引，前述導引構件係固定於 前述支承構件。 藉由導引構件來導引夾持臂之另端側，以使夾持臂之 一端側的把持部能在接近主軸之接近位置和遠離主軸之退 避位置之間進行往復移動。又藉由將導引構件固定在不與 匣本體一起旋轉之支承構件，結果，請求項1之發明的工 具交換裝置，可減輕匣本體重量，且能使匣本體快速旋轉 〇 請求項2之發明的工具交換裝置之前述導引構件，僅 配置在與旋轉定位於與前述主軸最接近的位置之前述夾持 臂的前述另端側相對向的位置。 請求項2之發明的工具交換裝置，導引構件能設計成 更小，因此能減低導引構件之成本。又能在匣本體周圔形 成空間，結果可用來配置其他的構件。 請求項3及4之發明的工具交換裝置，係具備保持構 件’藉由保持前述導引構件所導引之前述夾持臂的前述另 -6- 200920541 端側’以在前述把持部移動至前述接近位置的狀態下保持 前述夾持臂的姿勢。 請求項3及4之發明的工具交換裝置，在前述把持部 移動至前述接近位置的狀態下藉由保持構件來保持前述夾 持臂的姿勢。其結果，工具交換裝置可確實地維持夾持臂 的姿勢。 請求項5及6之發明的工具交換裝置，前述保持構件 係由板彈簧構成。 請求項5及6之發明的工具交換裝置，前述保持構件 由板彈簧構成的結果，能以低成本來提供。 請求項7之發明的工具交換裝置之前述夾持臂，係在 前述另端側具備可在前述導引構件之導引面上滾動之滚子 〇 請求項7之發明的工具交換裝置，在夾持臂之另端側 ，藉由滾子能減輕移動於導引面上所產生之摩擦。 請求項8及9之發明的工具交換裝置，係進一步具備 :覆蓋前述匣本體之蓋體、以及配置於前述蓋體內側且用 來旋轉驅動前述匣本體之馬達。 請求項8及9之發明的工具交換裝置，藉由蓋體可防 止切削加工中所產生之切粉或切削液附著於馬達。 請求項10及11之發明的工具交換裝置，係具備固定 於前述馬達且配置於則述盖體內側之編碼器。 請求項10及11之發明的工具交換裝置，藉由蓋體可 防止切削加工中所產生之切粉或切削液附著於編碼器。 200920541 【實施方式】 針對本發明的第1實施形態之工具交換裝置2，參照 第1圖及第2圖來作說明。在第1圖中，左側代表工作機 械1的前側，右側代表工作機械1的後側，紙表面側代表 工作機械1的右側，紙背面側代表工作機械1的左側。 第1實施形態之工具交換裝置2，係藉由夾持臂60的 旋動，來將裝設於工作機械1的主軸30之工具5自動交 換成其他工具之裝置。工具交換裝置2之特徵在於，將用 來導引夾持臂60的另端側之導引構件70固定於工作機械 1的機柱1 〇側。 對於工作機械1的構造作槪略的說明。如第1圖所示 ，工作機械1具備：機柱10、主軸頭24、主軸30以及工 具交換裝置2。柱狀之機柱10，係位於基台（base，圖示 省略）的上部後方。主軸頭24能沿著機柱1 0的前面進行 上下移動。主軸頭24，在前方下部的內側將主軸30支承 成可旋轉。相對於主軸30，用來保持工具5之工具保持具 7係形成可拆卸或安裝。工具交換裝置2位於主軸頭24的 前面。工具交換裝置2，係將裝設於主軸30之工具保持具 7自動交換成用來保持其他工具之工具保持具。 機柱1 〇，在左右兩側面分別設有框架1 8 (第1圖中 僅顯示一個框架1 8 )。框架1 8，以將主軸頭24夾在內側 的方式向前延伸。匣支承台37係固定於一對框架18的前 端部。藉由匣支承台37來支承工具交換裝置2之匣座41 -8 - 200920541 。匣支承台37，係在上部固定著截面大致呈l字型之匣 蓋1 9。匣蓋1 9係朝工作機械〗之前方上側傾斜。匣蓋1 9 覆盍住匣座41。匣蓋19可防止切削加工中發生之切粉、 切削液附著於匣座4 1。第1圖所示之框架丨8、匣支承台 37相當於本發明之「支承構件」，匣座41相當於「匣本 體」。 主軸頭24，係在上部具備用來旋轉主軸3〇之伺服馬 達22。基台具有載台（圖示省略）。相對於固定在載台上 之工件（被加工物），主軸頭24可上下移動，且藉由主 軸30之高速旋轉來進行期望的切削加工。 接著說明主軸頭24之上下移動機構。如第1圖所示 ，機柱1 〇在前面設有上側軸承部1 4和下側軸承部1 5。藉 由上側軸承部1 4和下側軸承部1 5，將沿上下方向延伸之 滾珠螺桿12支承成可旋轉。主軸頭24之背面設有螺帽13 。螺帽1 3螺合於滾珠螺桿i 2。滾珠螺桿1 2之上端部和伺 服馬達（圖示省略）之驅動軸係透過聯結器（圖示省略） 連結在一起。伺服馬達係固定於上側軸承部1 4的上部。 藉由伺服馬達之驅動而使滾珠螺桿12朝正反雙方向旋動 。當滾珠螺桿12朝正反雙方向旋動時，螺帽13會上下移 動。當螺帽13上下移動時，連結於螺帽13之主軸頭24 會上下移動。 接著說明主軸頭24之內部構造。如第1圖所示，伺 服馬達22之驅動軸和主軸30，係透過聯結器23來連結。 主軸30藉由伺服馬達22之驅動而進行旋轉。主軸30之 -9- 200920541 前端部（下端部），係具備用來裝設工具保持具7的錐狀 裝設部7a之錐狀開口部31。工具保持具7’係具有從錐 狀裝設部7a向上突出之被把持構件7b。主軸30之內部’ 係具有用來把持工具保持具7的被把持構件7b之保持具 把持構件3 2。主軸3 0的內部，係具有用來操作保持具把 持構件3 2之拉桿3 4。拉桿3 4係具備，恒將保持具把持構 件3 2朝上方彈壓之壓縮螺旋彈簧3 8。藉由使保持具把持 構件3 2向上移動，主軸3 0就會將工具保持具7把持住。 主軸頭2 4，係在後方上部的內側，將右側面視大致呈 L字型之桿件20透過支承軸21支承成可旋動。桿件20 具有垂直桿件20b、水平桿件20a。垂直桿件20b朝垂直 方向延伸。水平桿件20a，係從垂直桿件2Ob的下端部向 前方呈大致水平延伸。水平桿件2 0 a的前端部，可卡合於 拉桿3 4的上側前端部之銷3 5。在垂直桿件2 0 b之背面上 部設有板凸輪體3 6。板凸輪體3 6，係與固定於上側軸承 部14之凸輪從動件17形成可接觸或分離。拉伸螺旋彈簧 39，係連接於垂直桿件20b和主軸頭24。從右側面觀察桿 件2 0時，藉由拉伸螺旋彈簧3 9將桿件2 0恒朝順時針方 向彈壓，因此水平桿件2 0 a對銷3 5之緊壓恒處於解除狀 能〇 在主軸30的開口部31，在裝設著工具保持具7之錐 狀裝設部7 a的狀態下，若主軸頭2 4向上移動，設於桿件 20之板凸輪體36會沿著凸輪從動件17滑動。這時，從右 側面觀察桿件2 0時，會以支承軸2 1爲中心朝逆時針方向 -10- 200920541 旋動。藉由桿件20之旋動，水平桿件20a會將銷3 5向下 推壓。若水平桿件20a將銷35向下推壓，具備銷35之拉 桿34會使保持具把持構件32向下移動。藉由使保持具把 持構件32向下移動，保持具把持構件32會解除被把持構 件7b之把持。如前述般，用來保持工具5之工具保持具7 ，可對主軸3 0進行拆卸或安裝。 接者說明本發明之工具父換裝置2的構造。如第1圖 所示，工具交換裝置2係具備：匣座41以及複數個夾持 臂60(第1圖中，僅圖示上下2個夾持臂60)。匣座41 係形成具有凸緣之圓筒狀。夾持臂60，係沿著匣座41之 凸緣部42的背面之外周隔著一定間隔設置，且可進行旋 動。藉由框架18來支承匣支承台37。匣支承台37透過軸 承4 6將支承軸4 5支承成可旋轉。支承軸4 5係朝工作機 械1的前方下側傾斜。匣座4 1固定於支承軸45。匣座41 可與支承軸45 —起旋轉。 接著說明匣座41。如第1圖所示，匣座41係具有軸 套部43和凸緣部42。軸套部43呈筒狀。在軸套部43內 插入支承軸45。凸緣部42呈凸緣狀，係位於軸套部43之 外周面的前端側。凸緣部42，在與主軸頭24的前面相對 向之背面，以包圍軸套部43外周的方式設置保持環55。 保持環55，係用來保持位於夾持臂60的另端側之後述抵 接部64。保持環55之徑方向外周面，設有溝槽55a (參 照第2圖）。從夾持臂60的抵接部64突出之鋼球68的 —部分，可嵌入溝槽55a。保持環55係和匣座41 一起旋 -11 - 200920541 轉。在軸套部4 3之後端部的外側’嵌入以支承軸4 5爲 心之圓板47。在圓板47之背面側（與主軸頭24相對向 面），對應於複數個夾持臂60之配設位置而設有滾子 狀之凸輪從動件（圖示省略）。 在匣支承台37的上部具備殼體51。在殼體51的上 具備伺服馬達50。藉由伺服馬達50進行匣座4 1之旋轉 位。在殼體5 1的內側，伺服馬達5 0的旋轉軸和旋轉機 的一部分互相連結。旋轉機構係由複數個齒輪（圖示省 )和凸輪（圖示省略）所構成。圓板47之複數個凸輪 動件，係依序嵌合於旋轉機構之凸輪上所形成之凸輪溝 (圖示省略）。藉此使圓板47間歇地進行旋轉定位。 未圖示，伺服馬達50係具有編碼器，編碼器係連接於 作機械1之控制裝置（圖示省略）。旋轉定位是指，匣 41旋轉而停止於既定位置。 在匣座41之背面側，設有從匣支承台37向下延伸 支承板52。在支承板52的下端部，連結著本發明的特 之導引構件 70。導引構件70，係與最接近主軸30之 持臂60的另端側相對向。藉由導引構件70，將夾持臂 之另端側在主軸頭24與匣座4 1之間進行導引。導引構 7〇，係相當於第8圖所示之習知的工具交換裝置200之 持支承軸環2 1 0。 接著說明導引構件70的構造。如第2圖所示，前 呈T型之導引構件70之構成要素包括：連結部71和導 部72。連結部71呈板狀，係連結於支承板52的下端部 中 的 形 部 定 構 略 從 槽 雖 工 座 之 徵 夾 60 件 夾 視 引 -12- 200920541 板狀的導引部72’係從連結部71之與保持環55相對向 側面中央朝保持環5 5延伸。導引部72在與夾持臂60 另端側相對向的面，具備側視呈圓弧狀之導引面7 2 a ° 引面72a是供鋼球68的一部分抵接。鋼球68是從夾持 60之抵接部64突出。 支承板52所支承之導引構件70之導引部72的前 部，係與固定於匣座41的凸緣部42的背面之保持環 相鄰接。導引部72之導引面72a和保持環55之溝槽5 (參照第2圖），係形成互相連續的形狀。導引構件70 係使從夾持臂60的抵接部64突出之鋼球68滑動於導 面72a而導引至保持環55之溝槽55a。 接著說明夾持臂60及其支承構造。如第1圖所示 匣座4 1，係在凸緣部42的背面之外周側，在周方向以 定中心角設有用來支承複數根（例如1 4根）夾持臂6 0 支點台62。 支點台62，如第2圖所示，側視呈大致L字形， 具有固定部62a和軸支承部62b。固定部62a呈板狀。 支承部62b係從固定部62a之一端部斜向延伸，用來支 支承軸67。固定部62a，係具備貫穿固定部62a的厚度 向之固定孔（圖示省略）。固定部62a之固定孔，係對 於匣座41的凸緣部42所設之固定孔（圖示省略）。將 定部6 2 a的固定孔對準凸緣部4 2的固定孔，並用螺栓 疋住’即可將支點台6 2固定於匣座41。如第2圖所示 支點台62係透過支承軸67將夾持臂60予以支承。夾 之 的 導 臂 端 55 5 a 5 引 既 之 係 軸 承 方 應 固 固 ) 持 -13- 200920541 臂60係具備：臂本體61、把持部63、抵接部64、以及凸 輪從動件支承部65。棒狀之臂本體是彎曲的。臂本體61 ，在一端側的自由端設有把持部63，在另端側的端部設有 抵接部64。凸輪從動件支承部65，係從支承軸67附近之 臂本體61朝主軸頭24側突出。藉由凸輪從動件支承部65 將凸輪從動件66支承成可旋轉。 把持部63係具有分叉部69和一對的支承銷76 (第2 圖僅圖示一邊的支承銷76)。分叉部69，係夾持第1圖 所示之工具保持具7的外徑部之溝槽部（圖示省略），屬 於非開閉式。一對的支承銷7 6，係位於分叉部6 9的內側 端部。分叉部6 9，係在朝兩側分叉之各端部的外側，分別 具備以支承銷76的中心爲旋轉中心之凸輪從動件75。凸 輪從動件75，係沿著主軸頭24的前端部（下端部）之固 定凸輪29的凸輪面2 9a滑動。藉由凸輪從動件75和固定 凸輪29，將把持部63正確地導引至裝設於主軸30之工具 保持具7的溝槽部。當分叉部69位於工具保持具7的溝 槽部時，一對支承銷76會沿工具保持具7的溝槽部滑動 。如前述般，藉由把持部63來把持工具保持具7。 凸輪從動件6 6，係沿第1圖所示之固定於主軸頭24 前面之凸輪28的凸輪面28a滑動。藉由支承軸25’在主 軸頭24的前面支承凸輪28。在凸輪28和主軸頭24之間 配設壓縮螺旋彈簧（圖示省略）’因此支承軸25 ’是以在 主軸頭24上浮動的狀態支承著凸輪28。當凸輪從動件66 滑動於凸輪28之凸輪面28a ’臂本體61會以支承軸67爲 -14- 200920541 中心進行旋動。 抵接部64呈筒狀。抵接部64 ’係在盲孔（圖示省略 )中收納著壓縮螺旋彈簧（圖示省略）和鋼球6 8。壓縮螺 旋彈簧，係透過緩衝構件（圖示省略）將鋼球68朝導引 構件70側彈壓。鋼球6 8的一部分從肓孔的開口突出，並 抵接於上述導引構件70的導引面72a。導引構件70，係 以使鋼球68沿導引面72a滑動的方式進行鋼球68的導引 。當抵接面64移動至導引面72a之匣座41側時，鋼球68 會脫離導引面72a而嵌入溝槽55a。藉由鋼球68與溝槽 55a，在定位位置之夾持臂60的把持部53移動至主軸30 之接近位置的狀態下，使夾持臂6 0的姿勢保持穩定。 接著，參照第2圖來說明夾持臂6〇之旋動動作。 使第1圖所示之主軸頭24向下移動時，與旋轉定位 至匣座41的最下端之主軸30最接近之夾持臂60的凸輪 從動件75’會抵接於固定凸輪29的凸輪面29a。凸輪從 動件66會抵接於凸輪28之凸輪面28a。若凸輪從動件75 及凸輪從動件6 6沿各凸輪面2 9 a、2 8 a分別滑動，從夾持 臂60的抵接部64突出之鋼球68會脫離保持環55之溝槽 5 5a。然後鋼球68會沿導引構件7〇之導引面72a滑動。 結果’夾持臂60之把持部63會移動至遠離主軸30之退 避位置。定位待機狀態之其他夾持臂60，由於各抵接部 64的鋼球08係嵌入保持環55之溝槽55a，因此不發生旋 動而保持其姿勢。僅旋轉定位後之夾持臂6〇之凸輪從動 件75、66 ’可抵接於固定凸輪29及凸輪28而進行滑動。 -15- 200920541 結果，僅旋轉定位後之夾持臂60可旋動。定位待機 之其他的夾持臂60，則維持使把持部63接近主軸頭 接近位置）的姿勢。 在第1實施形態之工具交換裝置 2，旋轉定位至 4 1最下端之夾持臂60的另端側之抵接部64，係藉由 構件70來導引。導引構件70，係連結於匣支承台37 固定之支承板52。由於導引構件70並未連結於匣座. ，導引構件70的重量負荷不致施加於匣座41。在工 換裝置2，由於導引構件7 0的重量負荷不致施加於用 匣座41支承成可旋轉之支承軸45，故匣座41能進行 旋轉。導引構件70，由於僅配置在與旋轉定位後之夾 6〇的抵接部64相對的位置，相較於第8圖所示之習 夾持支承軸環2 1 0，能將導引構件70設計成更小。 接著，參照第3圖至第7圖來說明第2實施形態 具交換裝置1 20。 第2實施形態之工具交換裝置120,係第1實施 之工具交換裝置2的變形例。工具交換裝置120之特 於’取代第1實施形態之導引構件70而改用導引保 件9 0。導引保持構件9 〇，係導引夾持臂6 〇之另端側 將把持部83保持在遠離主軸30之退避位置。工具交 置1 20，係配備於與第1實施形態同樣的工作機械1 於工作機械1，係附上與第1圖所示符號相同的符號 此省略其詳細說明。 接著說明工具交換裝置120的構造。如第3圖所 狀態 24 ( 匣座 導引 上所 "側 具交 來將 快速 持臂 知的 之工 形態 徵在 持構 ，而 換裝 。關 ，在 示， -16- 200920541 工具交換裝置120係具備：匣座121、複數個夾持臂80( 第3圖僅圖示上下2個夾持臂80)。匣座121呈圓盤狀。 複數個夾持臂8 0，係沿著匣座1 2 1背面的外周隔既定間隔 設置，且可進行旋動。匣座121的支承構造，與第1實施 形態之匣座41的支承構造不同。 接著說明匣座121之支承構造。如第3圖所示，在機 柱1 〇之左右兩側面，分別設有框架1 1 8 (第3圖僅圖示一 側的框架1 1 8 )。框架1 1 8以將主軸頭24夾在內側的方式 向前方延伸。藉由一對框架118之前端部，來支承匣支承 台137。匣支承台137的內側設有減速機122。減速機122 之輸出軸124的前端係固定於匣座121的中央部。藉由固 定於匣支承台1 3 7的內側之滾珠軸承部1 2 6，來支承減速 機122之輸出軸124的前端。輸入軸123，係在滾珠軸承 部126和減速機122之間具備凸緣狀之制動齒輪127。制 動齒輪127之旋轉會使輸入軸123旋轉。 在匣支承台1 3 7之內側固定伺服馬達1 3 0。在伺服馬 達1 3 0之驅動軸（圖示省略）的前端，設有比制動齒輪 127更小的齒輪128。齒輪128的外周與制動齒輪127的 外周互相嚙合。制動齒輪1 2 7之與匣座1 2 1側相對向的側 面’設有複數個定位用凹部（圖示省略）。在匣支承台 137的內側藉由壓縮螺旋彈簧129彈性支承之鋼球135的 —部分，係嵌入制動齒輪1 2 7的最下方之凹部。伺服馬達 1 3 0係相當於本發明的「馬達」。 若伺服馬達130之驅動軸旋轉，旋轉軸之轉矩會經由 -17- 200920541 齒輪128、制動齒輪127而傳到減速機122之輸入軸123 。當轉矩傳到輸入軸1 2 3時，會以既定減速比使輸出軸 124旋轉。隨著輸出軸124之旋轉，匣座121會旋轉指定 數，而使鋼球135的一部分嵌入制動齒輪127最下方的凹 部。鋼球135嵌入凹部的結果，可決定制動齒輪127的位 置，而使既定工具5移動至定位位置。當鋼球135的一部 分嵌入制動齒輪1 2 7的凹部之結果，可防止振動造成制動 齒輪1 2 7發生旋轉。 伺服馬達130具有編碼器131。編碼器131連接於工 作機械1的控制裝置（圖示省略）。伺服馬達1 3 0及編碼 器1 3 1，不同於第1實施形態，係位於匣支承台1 3 7的上 部所固定之匣蓋Π 9的內側。結果，可防止切削加工中發 生之切粉或切削液附著於伺服馬達1 3 0及編碼器1 3 1。匣 蓋1 1 9係相當於本發明之「蓋體」。 藉由匣支承台137，在最接近主軸30的部分，以支承 軸部9 1 (參照第4圖）爲中心來支承導引保持構件90。 導引保持構件90，係與旋轉定位後之夾持臂80的另端側 相對向。在夾持臂80的另端側，設有後述之滾子88，本 發明的特徵之導引保持構件90，側視呈L字形。導引保 持構件90，係將夾持臂80另端側之滾子88 (參照第4圖 、第5圖）在主軸頭24和匣座41之間進行導引。導引保 持構件90，可將把持部83保持在遠離主軸30之退避位置 〇 接著詳細說明導引保持構件90。如第4圖、第5圖所 -18- 200920541 示，在導引保持構件90之內側面，設置第1導引面92、 第2導引面93。第一導引面92呈直線狀。第2導引面93 連續於第1導引面92，係沿著導引保持構件90之彎折部 分彎折。在導引保持構件90之彎折部分，設有支承軸部 9 1。藉由支承軸部9 1，將導引保持構件90支承成能相對 匣支承台137旋動。導引保持構件90，在與第1導引面 92相反側的面，在遠離支承軸部9 1側之一端部，設有凹 部94。凹部94，係從該相反側面朝第1導引面92形成既 定深度的凹陷。凹部94，係用來收納壓縮螺旋彈簧78 ( 參照第5圖）之一端部。從凹部94突出之壓縮螺旋彈簧 78的另端部，係抵接於匣支承台137的外面。如第5圖所 示從右側面觀察時，藉由壓縮螺旋彈簧78將導引保持構 件90之遠離支承軸部9 1側之一端部恒朝逆時針方向彈壓 〇 藉由使滾子88滑動於第1導引面92，導引保持構件 9 0會將夾持臂8 0的另端側在主軸頭2 4和匣座1 2 1之間進 行導引。當滾子8 8位於第2導引面93的情形，藉由壓縮 螺旋彈簧78的彈壓，導引保持構件90從右側面觀察會朝 逆時針方向旋動。第2導引面93之彎曲面，會限制滾子 8 8的移動’而保持住滾子8 8。藉由第2導引面93和滾子 88 ’在夾持臂80的另端側移動至主軸頭24側的狀態，可 保持夾持臂80的姿勢。 接著說明夾持臂8 0的構造。如第3圖所示，匣座121 ’係在背面的外周側，在周方向以既定的中心角固定複數 -19- 200920541 根（例如1 4根）夾持臂80。如第4圖所示，夾持臂8〇是 以支點台1 00作爲旋動動作的支點。支點台1 〇〇，係固定 於匣座121的背面之外周側。支點台100具備支承軸87。 夾ί寸臂80係具備：臂本體81、把持部83、滾子支承部84 、以及凸輪從動件支承部85。臂本體81係形成彎曲的棒 狀。藉由支點台100之支承軸87來支承臂本體81。臂本 體8 1 ’在自由端之一側端具有把持部8 3，在另側端亘有 滾子支承部84。藉由把持部83來把持工具保持具7。藉 由滾子支承部84來支承滾子88。凸輪從動件支承部85， 係從支承軸8 7附近之臂本體8 1朝主軸頭2 4側（參照第3 圖）突出。藉由凸輪從動件支承部8 5，將凸輪從動件8 6 支承成可旋轉自如。在臂本體81之外側面，設有金屬板 製之蓋體97，以防止切粉之衝擊。 支點台100的形狀與第1實施形態的支點台62的形 狀不同。如第4圖所示，支點台100係具備：固定板1〇1 、右側支承板1 〇 2以及左側支承板1 0 3。固定板1 〇 1，係 透過螺絲等固定於匣座121的背面之外周。右側支承板 102和左側支承板103，係從固定板101之左右兩端部分 別朝凸輪28側垂直延伸。 藉由右側支承板1 02以及左側支承板1 03來支承支承 軸87。夾持臂80能以支承軸87爲支點進行旋動。在固定 板101之上端部的中央設有保持彈簧104。保持彈簧104 ，係用來保持可旋動的夾持臂8 0的滾子8 8之板彈簧。保 持彈簧104係具備：第1保持部105、第2保持部106以 -20- 200920541 及第3保持部1 07。第1保持部1 05，係從固定板101的 上端部的中央朝上方延伸，呈長方形板狀。第2保持部 1 〇6，係從第1保持部1 05的前端部朝大致垂直方向彎折 。第3保持部1 07，係從第2保持部1 06的前端部朝斜上 方延伸。保持彈簧1 04，係發揮與第1實施形態的保持環 5 5相同的功能（相當於保持構件）。 若將夾持臂8 0的滾子8 8壓向保持彈簧1 04的內側， 滾子8 8的外周面會抵接於第2保持部106和第3保持部 107相接的角部。藉由保持彈簧104的角部，將滾子88朝 保持彈簧104的內側彈壓。在夾持臂80的把持部83移動 至主軸3 0的狀態，藉由保持彈簧1 04能穩定地保持夾持 臂80的姿勢。 把持部83，由於構造與第1實施形態的夾持臂60的 把持部63相同，故僅說明其對應關係而省略詳細的說明 〇 把持部83的分叉部89係對應於把持部63的分叉部 6 9。把持部8 3的支承銷9 6係對應於把持部6 3的支承銷 76。把持部83的凸輪從動件95係對應於把持部63的凸 輪從動件7 5。 凸輪從動件86，係沿第1圖所示之主軸頭24的前面 所固定之凸輪28的凸輪面28a滑動。臂本體81係以支承 軸8 7爲中心進行旋動。 滾子支承部84’係藉由2片支承板來夾持並支承滾子 88。藉由使滾子88在導引保持構件90之第1導引面92 -21 - 200920541 及第2導引面9 3上滾動’導引保持構件9 〇可在主軸頭2 4 和匣座121之間進行滾子支承部84之導引。作爲在導引 保持構件90之第1導引面92及第2導引面93上滑動的 構件’藉由採用滾子8 8的結果，可減少滾子8 8與第1導 引面92及第2導引面93之間的摩擦。第4圖所示之滾子 8 8相當於本發明之「滾子」。 接著參照第5圖至第7圖來說明夾持臂80的旋動動 作。第6圖係顯示，夾持臂80旋轉定位至匣座121的最 下端而移動至最接近主軸30的位置，主軸頭24稍向下移 動的狀態。凸輪從動件95，係抵接於固定凸輪29的凸輪 面29a。凸輪從動件86係抵接於凸輪28之凸輪面28a。 當主軸頭24從此狀態向上昇時，凸輪28之凸輪面28a會 將ώ輪從動件86朝離開主軸頭24的方向彈壓。夾持臂80 從右側面觀察時’會朝逆時針方向旋動，使凸輪從動件9 5 沿固定凸輪29之凸輪面29a向後側移動。夾持臂80，從 右側面觀察搬逆時針方向旋動的結果，滾子8 8會朝保持 彈簧104的內側移動。結果，如第5圖所示，第2保持部 1 0 6和第2保持部1 0 7所形成的角部，會將滾子8 8朝保持 彈簧1 04的內側彈壓。如此成爲藉由保持彈簧1 〇4的內側 來保持滾子8 8的狀態。在定位位置之夾持臂8 0的把持部 8 3移動至後側的狀態，藉由保持彈簧1 0 4來使夾持臂8 0 的姿勢保持穩定。 當主軸頭24下降的情形’固定凸輪29會將夾持臂80 的凸輪從動件95向下彈壓。若固定凸輪29將凸輪從動件 -22- 200920541 9 5向下彈壓，如第6圖所示，凸輪從動件9 5會沿凸輪面 2 9 a向前側滑動。夾持臂8 0 ’從右側面觀察會朝順時針方 向旋動。滾子8 8會脫離保持彈簧1 04的內側，沿導引保 持構件90之第1導引面92而朝主軸頭24側滾動。如第5 圖所示，壓縮螺旋彈簧78，會將導引保持構件90之匣座 121側之一端部朝主軸頭24側彈壓。當滾子88抵接於導 引保持構件90之第1導引面92，滾子88會反抗壓縮螺旋 彈簧78的彈力，而將第1導引面92推向匣座121側。藉 由匣支承台137和導引保持構件90來將壓縮螺旋彈簧7S 施以壓縮，而使導引保持構件90從右側面觀察時朝順時 針方向稍微旋動。 當滾子88朝主軸頭24側沿第1導引面92滾動而通 過最接近匣支承台137的位置後，滾子88和壓縮螺旋彈 簧7 8之相對距離逐漸拉長。藉由壓縮螺旋彈簧7 8之彈壓 ，使導引保持構件90從右側面觀察時朝逆時針方向逐漸 旋動。如第7圖所示，當滾子88滾到第2導引面93時， 藉由壓縮螺旋彈簧78之彈壓，使導引保持構件90從右側 面觀察時進一步朝逆時針方向旋動。第2導引面93之彎 曲面會抵接於滾子88的外周面，第2導引面93會限制滾 子8 8的移動。藉由導引保持構件90將滾子8 8保持於此 位置。在把持部8 3移動至遠離主軸3 0之退避位置的狀態 ，藉由導引保持構件90來保持旋轉定位至匣座121的最 下端之夾持臂80的姿勢。 在第2實施形態之工具交換裝置120’旋轉定位至匣 -23- 200920541 座1 2 1最下端之夾持臂80的後端側係藉由導引保持構 90來進行導引。爲了支承導引保持構件90，不是利用 座121而是利用匣支承台137。因此導引保持構件90的 量負荷不致施加於匣座121。結果，工具交換裝置120 使匣座1 2 1快速旋轉。導引保持構件90，僅配置在與旋 定位後（位於匣座1 2 1的最下端）之夾持臂8 0的滾子 相對的位置。工具交換裝置120，相較於第8圖所示習 的夾持支承軸環2 1 0，能使導引保持構件90更小型化， 使匣座121周圍的構造更爲簡單化。結果，工具交換裝 120更容易進行構件之交換或維修保養。在工具交換裝 120’能使匣座121周圍的構造更爲簡單化。結果，在 具交換裝置120，能將伺服馬達130及編碼器131配置 匣蓋1 1 9的內側，而防止切粉或切削液附著於伺服馬 1 3 0及編碼器1 3 1。 在第1實施形態，雖是將伺服馬達5 0配置於匣蓋 的外側，但也能像第2實施形態般配置於匣蓋丨9的內 〇 在第1實施形態，導引構件70雖是透過支承板52 固定於匣支承台37，但也能直接固定在匣支承台37。 在第1實施形態、第2實施形態，匣座41、121之 轉軸心，相對於主軸頭24的移動方向係形成傾斜。匣 4 1、1 2 1之旋轉軸心，相對於主軸頭2 4的移動方向形成 交也可以。 件 匣 重 能 轉 88 知 且 置 置 工 於 達 19 側 來 旋 座 正 -24- 200920541 【圖式簡單說明】 第1圖係工作機械1及工具交換裝置2的主要部位之 縱截面圖。 第2圖係顯示夾持臂60、保持環55、導引構件7〇、 凸輪28及固定凸輪29彼此的位置關係之立體圖。 第3圖係工作機械丨及工具交換裝置2的主要部位之 縱截面圖。 第4圖係顯示夾持臂8〇、導引保持構件90、凸輪28 及固定凸輪29彼此的位置關係之立體圖。 第5圖係夾持臂80的旋動之說明圖（藉由保持彈簧 104來保持滾子88的狀態）。 第6圖係夾持臂80的旋動之說明圖（滚子88抵接於 第1導引面92的狀態）。 第7圖係夾持臂80的旋動之說明圖（滾子88抵接於 第2導引面93的狀態）。 第8圖係習知的工具交換裝置200之夾持臂250的支 承構造之截面圖。 【主要元件符號說明】 1 :工作機械 2、120、200:工具交換裝置 5 :工具 7 :工具保持具 7a :錐狀裝設部 -25- 200920541 7b :被把持構件 1 〇 :機柱 1 2 :滾珠螺桿 1 3 :螺帽 1 4 :上側軸承部 1 5 =下側軸承部 17、 66、 75、 86、 95、 253 ：凸輪從動件 1 8、1 1 8 :框架 1 9、1 1 9 :匣蓋 20 :桿件 20a :水平桿件 2 0 b :垂直桿件 21、 25、 45、 67、 87、 201、 252 ：支承軸 22、 50、130 :伺服馬達 2 3 :聯結器 2 4 :主軸頭 28 :凸輪 28a、 29a:凸輪面 29 :固定凸輪 30 :主軸 3 1 :錐狀開口部 32 ·‘保持具把持構件 3 4 :拉桿 35 :銷 -26- 200920541 3 6 :板凸輪體 37 :匣支承台 38、78、129、25 7 :壓縮螺旋彈簧 3 9 :拉伸螺旋彈簧 41、 121、 202 ：匣座 4 2 :凸緣部 43、 202a:軸套部 46 :軸承 47 :圓板 5 1 :殼體 5 2 :支承板 5 5 ‘·保持環 5 5a、212 ：溝槽 60、 80、 250 ：夾持臂 61、 81 :臂本體 62 、 251 、 100 :支點台 6 2 a :固定部 6 2b :軸支承部 63、 83、 255 ：把持部 64 _·抵接部 65、85 :凸輪從動件支承部 68、 135、 258 ：鋼球 69、 89 :分叉部 70 _•導引構件 -27- 200920541 71 ： 72 ： 72a 76、 84 : 88 : 90 : 91 : 92 : 93 : 94 : 97 : 10 1 102 103 104 105 106 1 07 122 123 124 126 127 連結部 導引部 、21 1 :導引面 9 6 :支承銷 滾子支承部 滾子 導引保持構件 支承軸部 第1導引面 第2導引面 凹部 蓋體 :固定板 :右側支承板 :左側支承板 =保持彈簧 :第1保持部 :第2保持部 :第3保持部 :減速機 :輸入軸 :輸出軸 =滾珠軸承部 :制動齒輪 -28 200920541 1 28 :齒輪 1 3 1 :編碼器 1 3 7 :匣支承台 2 1 0 :夾持支承軸環 2 5 6 :肓孔200920541 IX. Description of the Invention [Technical Field] The present invention relates to a tool changing device, and more particularly to a tool exchange capable of automatically exchanging tools provided on a spindle of a working machine. [Prior Art] A working machine that can perform multiple processing such as tapping and "drilling" a workpiece with a single device. The working machine is equipped with an exchange device (ATC). In the tool changer (ATC), a large number of tools, such as a tap and a drill, are stored in advance in a predetermined storage location, and the tool after the completion of the machining operation and the tool required for the next machining are automatically exchanged. The tool changing device described in Japanese Laid-Open Patent Publication No. Hei No. Hei. No. Hei. No. Hei. No. Hei. No. Hei. No. Hei. No. Hei. No. Hei. In the conventional tool changing device 200 shown in Fig. 8, at the center of the crucible 202, the support shaft 201 supports the crucible 202 to be rotatable. On the outer circumference of the seat 202, a plurality of fulcrum tables 251 are fixed at a central angle in the circumferential direction around the support shaft 201. Each of the fulcrum tables 251 is supported by the support shaft 252 to be rotatable. The clamp arm 250 supports the vicinity of the shaft 2 5 2 and supports the cam member 2 5 3 so as to be rotatable toward the spindle head (not shown). The cam follower 2 5 3 can abut against the inclined surface of the cam body (not shown) provided on the front surface of the main shaft. When the spindle head moves down, the cam follower 253 of the clamp arm 250 slides on the inclined surface of the wheel of the 200920541 wheel on the head of the spindle head. The grip portion 255 located at one end of the grip arm 250 is rotatable between an approaching position close to the main shaft and a retracted position away from the main shaft (the position of the grip arm 25 0 shown in Fig. 8). On the other end side of the gripping arm 250, a bore (bottomed hole) 2 5 6 is provided. Inside the blind hole (bottomed hole) 2 5 6 , a compression coil spring 2 5 7 and a steel ball 25 8 are housed. A portion of the steel ball 25 8 protrudes from the opening of the blind hole (bottomed hole) 25 6 . In the boss portion 202a of the sley 202, a sandwiching support collar 210 made of iron is externally inserted. The outer periphery of the clamp support collar 210 has a guide surface 211 having a circular arc shape. The steel ball 258 is in contact with the guiding surface 211. The outer peripheral surface of the sill 202 is provided with a groove 2 12 opening toward the aforementioned guide surface 21 to the predetermined interval. The gripping arm 250 in the positioning standby state stabilizes the posture by embedding the steel ball 258 in the groove 212. SUMMARY OF THE INVENTION The iron holding support collar 210' of the tool changing device 200 shown in Fig. 8 rotates together with the cymbal 902. The conventional tool exchange device 2〇〇's weight applied to the sley 202 is heavier, and there is a problem that the sley 202 cannot rotate rapidly. It is an object of the present invention to provide a tool changer that reduces the weight applied to the sley 202. In order to achieve the above object, the tool changing device of the invention of claim 1 is characterized in that: the spindle of the working machine is supported as a rotatable spindle head, and the spindle head is supported to be movable up and down, and the axis can be centered on one axis a cymbal body that is rotationally positioned, a support member that is fixed to the machine post and supports the cymbal body-5-200920541 as a rotatable support member, and has a grip portion (for holding a tool) on one end side and is disposed on an outer circumference of the cymbal body a plurality of radial clamping arms, and a fulcrum table supported between the one end side and the other end side of the clamping arm and fixed to an outer circumference of the dam body; and the clamping arm after positioning by rotation a tool exchange device that reciprocates between the gripping portion and the retracted position of the gripping portion and the retracted position away from the main shaft, and is provided with a guiding member for guiding the gripping portion The other end side of the clamping arm is guided between the first body and the spindle head, and the guiding member is fixed to the foregoing Support member. The other end side of the gripping arm is guided by the guiding member so that the gripping portion on the one end side of the gripping arm can reciprocate between the approaching position close to the main shaft and the retracted position away from the main shaft. Further, by fixing the guiding member to the supporting member that does not rotate with the crucible body, as a result, the tool changing device of the invention of claim 1 can reduce the weight of the crucible body and can quickly rotate the crucible body. The guide member of the tool changer is disposed only at a position opposed to the other end side of the grip arm that is rotationally positioned at a position closest to the spindle. According to the tool exchange device of the invention of claim 2, the guide member can be designed to be smaller, so that the cost of the guide member can be reduced. It is also possible to form a space around the body of the body, and the result can be used to configure other components. The tool changing device according to the inventions of claims 3 and 4 is characterized in that the holding member 'the other -6-200920541 end side' of the holding arm guided by the guiding member is held to move the aforementioned holding portion to the aforementioned The posture of the aforementioned grip arm is maintained in a state close to the position. The tool changing device according to the inventions of claims 3 and 4, wherein the gripping arm holds the posture of the gripping arm by the holding member while the gripping portion is moved to the approaching position. As a result, the tool changer can surely maintain the posture of the grip arm. In the tool changing device of the invention of claims 5 and 6, the holding member is constituted by a leaf spring. According to the tool changing device of the invention of claims 5 and 6, the holding member is formed of a leaf spring and can be provided at a low cost. The clamp arm of the tool changer of the invention of claim 7 is a tool changer having the invention of the roller 〇 request item 7 which can roll on the guide surface of the guide member on the other end side, in the clip The other end side of the arm holds the friction generated by the movement on the guide surface by the roller. The tool changing device according to the invention of claims 8 and 9 further comprising: a cover covering the body of the crucible; and a motor disposed inside the cover and rotatably driving the crucible body. According to the tool exchange device of the invention of claims 8 and 9, the cover body prevents the cutting powder or the cutting fluid generated in the cutting process from adhering to the motor. The tool changing device according to the inventions of claims 10 and 11 includes an encoder that is fixed to the motor and disposed inside the cover. According to the tool exchange device of the invention of claims 10 and 11, the cover body can prevent the cutting powder or the cutting fluid generated in the cutting process from adhering to the encoder. [Embodiment] The tool change device 2 according to the first embodiment of the present invention will be described with reference to Figs. 1 and 2 . In Fig. 1, the left side represents the front side of the work machine 1, the right side represents the rear side of the work machine 1, the paper surface side represents the right side of the work machine 1, and the paper back side represents the left side of the work machine 1. The tool changer 2 of the first embodiment automatically switches the tool 5 attached to the main shaft 30 of the machine tool 1 to another tool by the rotation of the grip arm 60. The tool changing device 2 is characterized in that the guide member 70 for guiding the other end side of the grip arm 60 is fixed to the side of the column 1 of the work machine 1. A brief description of the construction of the working machine 1 will be given. As shown in Fig. 1, the work machine 1 includes a machine column 10, a spindle head 24, a spindle 30, and a tool changer 2. The columnar column 10 is located at the upper rear of the base (not shown). The spindle head 24 can be moved up and down along the front of the column 10. The spindle head 24 supports the spindle 30 so as to be rotatable on the inner side of the front lower portion. The tool holder 7 for holding the tool 5 is detachably or mountable with respect to the spindle 30. The tool changer 2 is located in front of the spindle head 24. The tool changer 2 automatically exchanges the tool holder 7 mounted on the spindle 30 into a tool holder for holding other tools. The frame 1 is 〇, and the frame 1 8 is provided on the left and right sides (only one frame 1 8 is shown in Fig. 1). The frame 18 is extended forward in such a manner that the spindle head 24 is sandwiched inside. The crucible support base 37 is fixed to the front end portions of the pair of frames 18. The cymbal 41 -8 - 200920541 of the tool changer 2 is supported by the cymbal support table 37. The crucible support base 37 is fixed to the upper portion with a lid 1 9 having a substantially l-shaped cross section. The cover 1 9 is tilted toward the upper side of the working machine. The cover 1 9 covers the sley 41. The lid 19 prevents cutting powder and cutting fluid from occurring in the cutting process from adhering to the sley 41. The frame 丨8 and the cymbal support table 37 shown in Fig. 1 correspond to the "support member" of the present invention, and the sley 41 corresponds to the "skull body". The spindle head 24 is provided with a servo motor 22 for rotating the spindle 3 at the upper portion. The base has a stage (not shown). The spindle head 24 is movable up and down with respect to the workpiece (object to be processed) fixed on the stage, and the desired cutting process is performed by the high speed rotation of the spindle 30. Next, the upper and lower moving mechanisms of the spindle head 24 will be described. As shown in Fig. 1, the column 1 is provided with an upper bearing portion 14 and a lower bearing portion 15 at the front. The ball screw 12 extending in the vertical direction is rotatably supported by the upper bearing portion 14 and the lower bearing portion 15. A nut 13 is provided on the back of the spindle head 24. The nut 13 is screwed to the ball screw i 2 . The upper end portion of the ball screw 1 2 and the drive shaft of the servo motor (not shown) are coupled together via a coupler (not shown). The servo motor is fixed to the upper portion of the upper bearing portion 14 . The ball screw 12 is rotated in both the forward and reverse directions by the driving of the servo motor. When the ball screw 12 is rotated in both the forward and reverse directions, the nut 13 is moved up and down. When the nut 13 moves up and down, the spindle head 24 coupled to the nut 13 moves up and down. Next, the internal structure of the spindle head 24 will be described. As shown in Fig. 1, the drive shaft of the servo motor 22 and the main shaft 30 are coupled via a coupler 23. The spindle 30 is rotated by the drive of the servo motor 22. The front end portion (lower end portion) of the main shaft 30 -9-200920541 is provided with a tapered opening portion 31 for mounting the tapered mounting portion 7a of the tool holder 7. The tool holder 7' has a grip member 7b that protrudes upward from the tapered mounting portion 7a. The inside of the main shaft 30 has a holder holding member 3 2 for holding the grip member 7b of the tool holder 7. The inside of the main shaft 30 has a tie rod 34 for operating the holder holding member 32. The tie rod 34 is provided with a compression coil spring 38 that constantly holds the holding member 32 upwardly. The spindle 30 holds the tool holder 7 by moving the holder holding member 3 2 upward. The spindle head 24 is attached to the inner side of the rear upper portion, and the rod member 20 having a substantially L-shaped right side is supported by the support shaft 21 so as to be rotatable. The rod 20 has a vertical rod 20b and a horizontal rod 20a. The vertical rod member 20b extends in the vertical direction. The horizontal rod member 20a extends substantially horizontally from the lower end portion of the vertical rod member 20b to the front. The front end portion of the horizontal rod 20 a can be engaged with the pin 35 of the upper end portion of the tie rod 34. A plate cam body 36 is provided on the upper portion of the back surface of the vertical rod member 20b. The plate cam body 36 is formed in contact with or separated from the cam follower 17 fixed to the upper bearing portion 14. The tension coil spring 39 is coupled to the vertical rod member 20b and the spindle head 24. When the rod member 20 is viewed from the right side, the rod member 20 is constantly biased clockwise by the tension coil spring 39, so that the pressing force of the horizontal rod member 20 a against the pin 3 5 is always released. In the state in which the opening portion 31 of the main shaft 30 is provided with the tapered mounting portion 7a of the tool holder 7, if the spindle head 24 moves upward, the plate cam body 36 provided on the rod member 20 follows the cam. The follower 17 slides. At this time, when the rod 20 is viewed from the right side, it is rotated counterclockwise -10- 200920541 around the support shaft 2 1 . By the rotation of the lever member 20, the horizontal lever member 20a pushes the pin 35 downward. If the horizontal lever member 20a pushes the pin 35 downward, the lever 34 provided with the pin 35 causes the holder holding member 32 to move downward. By moving the holder holding member 32 downward, the holder holding member 32 releases the holding by the held member 7b. As described above, the tool holder 7 for holding the tool 5 can be detached or mounted to the spindle 30. The construction of the tool changing device 2 of the present invention will be described. As shown in Fig. 1, the tool changer 2 includes a sley 41 and a plurality of grip arms 60 (in the first figure, only the upper and lower grip arms 60 are shown). The sley 41 is formed in a cylindrical shape having a flange. The gripping arms 60 are disposed at regular intervals along the back surface of the flange portion 42 of the sley 41 and are rotatable. The crucible support table 37 is supported by the frame 18. The crucible support table 37 supports the support shaft 45 via the bearing 46 to be rotatable. The support shaft 45 is inclined toward the front lower side of the working machine 1. The sley 4 1 is fixed to the support shaft 45. The sley 41 can rotate together with the support shaft 45. Next, the sley 41 will be described. As shown in Fig. 1, the sley 41 has a boss portion 43 and a flange portion 42. The boss portion 43 has a cylindrical shape. A support shaft 45 is inserted into the boss portion 43. The flange portion 42 has a flange shape and is located on the front end side of the outer peripheral surface of the boss portion 43. The flange portion 42 is provided with a retaining ring 55 so as to surround the outer periphery of the boss portion 43 on the back surface facing the front surface of the spindle head 24. The retaining ring 55 is used to hold the abutting portion 64 on the other end side of the gripping arm 60. The outer peripheral surface of the retaining ring 55 in the radial direction is provided with a groove 55a (refer to Fig. 2). A portion of the steel ball 68 protruding from the abutment portion 64 of the clamp arm 60 can be fitted into the groove 55a. The retaining ring 55 is rotated together with the sley 41 -11 - 200920541. A circular plate 47 centered on the support shaft 45 is embedded in the outer side of the end portion of the sleeve portion 43. On the back side of the circular plate 47 (opposite to the spindle head 24), a roller-shaped cam follower (not shown) is provided corresponding to the arrangement position of the plurality of clamp arms 60. A housing 51 is provided at an upper portion of the crucible support base 37. A servo motor 50 is provided on the casing 51. The rotation position of the sley 4 1 is performed by the servo motor 50. Inside the casing 51, the rotating shaft of the servo motor 50 and a part of the rotating machine are coupled to each other. The rotating mechanism is composed of a plurality of gears (not shown) and cams (not shown). The plurality of cam members of the circular plate 47 are sequentially fitted to the cam grooves (not shown) formed on the cam of the rotating mechanism. Thereby, the circular plate 47 is intermittently rotationally positioned. Not shown, the servo motor 50 has an encoder, and the encoder is connected to a control device (not shown) of the machine 1. Rotational positioning means that 匣 41 rotates and stops at a predetermined position. On the back side of the sley 41, a support plate 52 extending downward from the cymbal support table 37 is provided. At the lower end portion of the support plate 52, a special guide member 70 of the present invention is coupled. The guiding member 70 is opposed to the other end side of the holding arm 60 closest to the main shaft 30. The other end side of the gripping arm is guided between the spindle head 24 and the sley 41 by the guide member 70. The guiding structure is equivalent to the holding collar 2 1 0 of the conventional tool changing device 200 shown in Fig. 8. Next, the configuration of the guiding member 70 will be described. As shown in Fig. 2, the components of the front T-shaped guide member 70 include a joint portion 71 and a guide portion 72. The connecting portion 71 has a plate shape, and the shaped portion that is connected to the lower end portion of the support plate 52 is shaped slightly from the groove. The workpiece is sandwiched by 60 pieces. The guide portion 72' of the plate-shaped guide portion is closed. The connecting portion 71 and the retaining ring 55 extend toward the center of the side surface toward the retaining ring 55. The guide portion 72 has a guide surface that is arcuate in a side view on a surface facing the other end side of the clamp arm 60. The guide surface 72a is a part of the steel ball 68 that abuts. The steel ball 68 protrudes from the abutment portion 64 of the clamp 60. The front portion of the guide portion 72 of the guide member 70 supported by the support plate 52 is adjacent to the retaining ring fixed to the back surface of the flange portion 42 of the sley 41. The guide surface 72a of the guide portion 72 and the groove 5 (see Fig. 2) of the retaining ring 55 are formed in a continuous shape. The guiding member 70 guides the steel ball 68 protruding from the abutting portion 64 of the gripping arm 60 to the guide surface 72a to be guided to the groove 55a of the retaining ring 55. Next, the clamp arm 60 and its support structure will be described. As shown in Fig. 1, the sley 41 is attached to the outer peripheral side of the back surface of the flange portion 42, and is provided at a constant central angle in the circumferential direction for supporting a plurality of (for example, 14) gripping arms 60. . As shown in Fig. 2, the fulcrum table 62 has a substantially L-shape in side view and has a fixed portion 62a and a shaft support portion 62b. The fixing portion 62a has a plate shape. The support portion 62b extends obliquely from one end of the fixed portion 62a for supporting the shaft 67. The fixing portion 62a is provided with a fixing hole (not shown) having a thickness penetrating the fixing portion 62a. The fixing hole of the fixing portion 62a is a fixing hole (not shown) provided for the flange portion 42 of the sley 41. The fixing hole of the fixed portion 62a is aligned with the fixing hole of the flange portion 42, and the fulcrum table 62 is fixed to the sley 41 by bolting it. As shown in Fig. 2, the fulcrum table 62 supports the clamp arm 60 via the support shaft 67. The arm end 55 5 a 5 of the clip is fixed to the bearing side. The holding arm-13-200920541 The arm 60 is provided with the arm body 61, the grip portion 63, the abutting portion 64, and the cam follower supporting portion. 65. The rod-shaped arm body is curved. The arm body 61 is provided with a grip portion 63 at a free end on one end side, and an abutting portion 64 at an end portion on the other end side. The cam follower support portion 65 projects from the arm body 61 near the support shaft 67 toward the spindle head 24 side. The cam follower 66 is rotatably supported by the cam follower support portion 65. The grip portion 63 has a branching portion 69 and a pair of support pins 76 (the second figure shows only one side of the support pin 76). The branching portion 69 is a non-opening type which is a groove portion (not shown) which sandwiches the outer diameter portion of the tool holder 7 shown in Fig. 1 . A pair of support pins 76 are located at the inner end of the branching portion 619. The branching portion 169 is provided on the outer side of each of the end portions that are branched toward both sides, and each has a cam follower 75 that is centered on the center of the support pin 76. The cam follower 75 slides along the cam surface 29a of the fixed cam 29 of the front end portion (lower end portion) of the spindle head 24. The grip portion 63 is correctly guided to the groove portion of the tool holder 7 attached to the spindle 30 by the cam follower 75 and the fixed cam 29. When the branching portion 69 is located at the groove portion of the tool holder 7, the pair of support pins 76 slide along the groove portion of the tool holder 7. As described above, the tool holder 7 is gripped by the grip portion 63. The cam follower 66 is slid along the cam surface 28a of the cam 28 fixed to the front of the spindle head 24 as shown in Fig. 1. The cam 28 is supported on the front side of the main shaft head 24 by the support shaft 25'. A compression coil spring (not shown) is disposed between the cam 28 and the spindle head 24. Therefore, the support shaft 25' supports the cam 28 in a state of being floated on the spindle head 24. When the cam follower 66 slides on the cam surface 28a' of the cam 28, the arm body 61 is rotated with the support shaft 67 centered at -14-200920541. The abutting portion 64 has a cylindrical shape. The abutting portion 64' houses a compression coil spring (not shown) and a steel ball 68 in a blind hole (not shown). The compression coil spring biases the steel ball 68 toward the guide member 70 side through a cushioning member (not shown). A part of the steel ball 6.8 protrudes from the opening of the boring hole and abuts against the guide surface 72a of the above-described guide member 70. The guiding member 70 guides the steel ball 68 in such a manner that the steel ball 68 slides along the guiding surface 72a. When the abutting surface 64 is moved to the side of the sley 41 of the guiding surface 72a, the steel ball 68 is detached from the guiding surface 72a and fitted into the groove 55a. By the steel ball 68 and the groove 55a, the posture of the grip arm 60 is stabilized in a state where the grip portion 53 of the grip arm 60 at the positioning position is moved to the approach position of the main shaft 30. Next, the swiveling operation of the grip arm 6〇 will be described with reference to Fig. 2 . When the spindle head 24 shown in FIG. 1 is moved downward, the cam follower 75' of the grip arm 60 closest to the spindle 30 that is rotationally positioned to the lowermost end of the sley 41 abuts against the fixed cam 29. Cam surface 29a. The cam follower 66 abuts against the cam surface 28a of the cam 28. If the cam follower 75 and the cam follower 6 6 slide along the respective cam faces 2 9 a, 28 8 a, the steel ball 68 protruding from the abutment portion 64 of the clamp arm 60 will be disengaged from the groove of the retaining ring 55. 5 5a. The steel ball 68 then slides along the guiding surface 72a of the guiding member 7〇. As a result, the grip portion 63 of the grip arm 60 is moved to a retracted position away from the main shaft 30. In the other gripping arms 60 that are positioned in the standby state, since the steel balls 08 of the respective abutting portions 64 are fitted into the grooves 55a of the retaining ring 55, the posture is maintained without being rotated. Only the cam followers 75, 66' of the gripping arms 6A after the rotational positioning can abut against the fixed cam 29 and the cam 28 to slide. -15- 200920541 As a result, only the gripping arm 60 after the rotational positioning can be rotated. The other grip arm 60 that is positioned to stand is maintained in a posture in which the grip portion 63 is brought close to the spindle head approaching position. In the tool changing device 2 of the first embodiment, the abutting portion 64 on the other end side of the grip arm 60 that is rotationally positioned to the lowermost end of the slider 1 is guided by the member 70. The guiding member 70 is coupled to the support plate 52 to which the crucible support table 37 is fixed. Because the guiding member 70 is not connected to the sley. The weight load of the guiding member 70 is not applied to the sley 41. In the changeover device 2, since the weight load of the guide member 70 is not applied to the support shaft 45 which is rotatably supported by the sley 41, the sley 41 can be rotated. Since the guiding member 70 is disposed only at a position opposed to the abutting portion 64 of the clip 6A after the rotational positioning, the guiding member can be compared with the conventional grip supporting collar 2 1 0 shown in FIG. 70 is designed to be smaller. Next, a second embodiment of the exchange device 1 20 will be described with reference to Figs. 3 to 7 . The tool changing device 120 of the second embodiment is a modification of the tool changing device 2 of the first embodiment. The tool changer 120 is adapted to replace the guide member 90 with the guide member 70 of the first embodiment. The guide holding member 9 is guided to the other end side of the grip arm 6 将 to hold the grip portion 83 at a retracted position away from the main shaft 30. The machine tool 1 is attached to the machine tool 1 in the same manner as the first embodiment, and the same reference numerals as those in the first embodiment are attached, and the detailed description thereof will be omitted. Next, the configuration of the tool changer 120 will be described. As shown in Figure 3, state 24 (the squatting guide is on the side of the squatter), and the side is handed over to hold the structure of the quick arm, and the dressing is changed. Off, in the show, -16- 200920541 The 120 series includes a squat 121 and a plurality of gripping arms 80 (the third figure shows only two upper and lower gripping arms 80). The shackle 121 has a disk shape. The plurality of gripping arms 80 are along the cymbal. The outer circumference of the back surface of the seat 1 2 1 is provided at a predetermined interval and can be rotated. The support structure of the sill 121 is different from the support structure of the sley 41 of the first embodiment. Next, the support structure of the sill 121 will be described. As shown in Fig. 3, on the left and right sides of the column 1 ,, a frame 1 18 is provided (the third figure only shows the frame 1 1 8 on one side). The frame 1 1 8 is used to sandwich the spindle head 24 The manner of extending forwardly supports the crucible support table 137 by the front end portions of the pair of frames 118. The inside of the crucible support base 137 is provided with a reduction gear 122. The front end of the output shaft 124 of the reduction gear 122 is fixed to the crucible 121. The central portion is supported by the ball bearing portion 1 2 6 fixed to the inner side of the crucible support table 137 to support the transmission of the reducer 122 The front end of the shaft 124. The input shaft 123 is provided with a flange-shaped brake gear 127 between the ball bearing portion 126 and the speed reducer 122. The rotation of the brake gear 127 causes the input shaft 123 to rotate. The servo motor 130 is fixed to the inside. A gear 128 smaller than the brake gear 127 is provided at the tip end of the drive shaft (not shown) of the servo motor 130. The outer circumference of the gear 128 meshes with the outer circumference of the brake gear 127. A plurality of positioning recesses (not shown) are provided on the side surface ' of the brake gear 1 27 opposite to the side of the sill 1 1 1 . The steel ball 135 elastically supported by the compression coil spring 129 inside the yoke support base 137 The part is embedded in the lowermost recess of the brake gear 1 2 7. The servo motor 130 is equivalent to the "motor" of the present invention. If the drive shaft of the servo motor 130 rotates, the torque of the rotary shaft passes through -17 - 200920541 The gear 128 and the brake gear 127 are transmitted to the input shaft 123 of the reduction gear 122. When the torque is transmitted to the input shaft 1 2 3, the output shaft 124 is rotated at a predetermined reduction ratio. As the output shaft 124 rotates, The scorpion 121 will rotate the specified number. A portion of the steel ball 135 is embedded in the recess at the lowest position of the brake gear 127. As a result of the steel ball 135 being fitted into the recess, the position of the brake gear 127 can be determined to move the predetermined tool 5 to the positioning position. When a part of the steel ball 135 is embedded in the brake gear As a result of the recesses of 127, vibration can be prevented from rotating by the brake gears 127. The servo motor 130 has an encoder 131. The encoder 131 is connected to a control device (not shown) of the machine tool 1. The servo motor 1300 and the encoder 133 are different from the first embodiment in that they are located inside the cymbal cover 9 fixed to the upper portion of the cymbal support base 137. As a result, it is possible to prevent the cutting powder or the cutting fluid generated during the cutting from adhering to the servo motor 130 and the encoder 133.匣 Cover 1 1 9 corresponds to the "cover" of the present invention. The guide holding member 90 is supported by the support base 137 at a portion closest to the main shaft 30 with the support shaft portion 9 1 (see Fig. 4) as a center. The guide holding member 90 is opposed to the other end side of the rotationally positioned gripping arm 80. On the other end side of the grip arm 80, a roller 88, which will be described later, is provided, and the guide holding member 90 of the present invention has an L-shape in side view. The guide holding member 90 guides the roller 88 (see Figs. 4 and 5) on the other end side of the grip arm 80 between the spindle head 24 and the cymbal 41. The holding member 90 is guided to hold the grip portion 83 at a retracted position away from the main shaft 30. Next, the guide holding member 90 will be described in detail. As shown in Fig. 4 and Fig. 5, -18 to 200920541, the first guide surface 92 and the second guide surface 93 are provided on the inner side surface of the guide holding member 90. The first guiding surface 92 is linear. The second guide surface 93 is continuous with the first guide surface 92 and is bent along the bent portion of the guide holding member 90. At the bent portion of the guide holding member 90, a support shaft portion 91 is provided. The guide holding member 90 is supported to be rotatable relative to the crucible support table 137 by the support shaft portion 9.1. The guide holding member 90 is provided with a concave portion 94 on one end side away from the support shaft portion 91 on the surface opposite to the first guide surface 92. The concave portion 94 forms a depression having a predetermined depth from the opposite side surface toward the first guiding surface 92. The recess 94 is for accommodating one end of the compression coil spring 78 (refer to Fig. 5). The other end portion of the compression coil spring 78 projecting from the concave portion 94 abuts against the outer surface of the crucible support base 137. When viewed from the right side as shown in Fig. 5, the end portion of the guide holding member 90 away from the side of the support shaft portion 91 is constantly biased in the counterclockwise direction by the compression coil spring 78, by sliding the roller 88 thereon. The first guiding surface 92, the guiding holding member 90, guides the other end side of the gripping arm 80 between the spindle head 24 and the sley 1 1 1 . When the roller 8 8 is located on the second guiding surface 93, by the compression of the compression coil spring 78, the guiding holding member 90 is rotated counterclockwise as viewed from the right side. The curved surface of the second guiding surface 93 restricts the movement of the roller 8 8 and holds the roller 8 8 . By the second guide surface 93 and the roller 88' being moved to the spindle head 24 side on the other end side of the grip arm 80, the posture of the grip arm 80 can be maintained. Next, the configuration of the grip arm 80 will be described. As shown in Fig. 3, the sley 121' is attached to the outer peripheral side of the back surface, and a plurality of -19-200920541 (for example, 14) holding arms 80 are fixed at a predetermined central angle in the circumferential direction. As shown in Fig. 4, the gripping arm 8 is a fulcrum for the pivoting operation with the fulcrum station 100. The fulcrum table 1 is fixed to the outer side of the back surface of the sley 121. The fulcrum table 100 is provided with a support shaft 87. The clip arm 80 includes an arm main body 81, a grip portion 83, a roller support portion 84, and a cam follower support portion 85. The arm body 81 is formed in a curved rod shape. The arm body 81 is supported by a support shaft 87 of the fulcrum table 100. The arm body 8 1 ' has a grip portion 83 at one side end of the free end and a roller support portion 84 at the other end. The tool holder 7 is gripped by the grip portion 83. The roller 88 is supported by the roller support portion 84. The cam follower support portion 85 protrudes from the arm main body 8 1 near the support shaft 87 toward the spindle head 24 side (see Fig. 3). The cam follower 86 is rotatably supported by the cam follower support portion 85. On the outer side of the arm body 81, a metal plate cover 97 is provided to prevent the impact of the powder cutting. The shape of the fulcrum table 100 is different from that of the fulcrum table 62 of the first embodiment. As shown in Fig. 4, the fulcrum table 100 includes a fixed plate 1〇1, a right side support plate 1〇2, and a left side support plate 110. The fixing plate 1 〇 1 is fixed to the outer circumference of the back surface of the sley 121 by screws or the like. The right side support plate 102 and the left side support plate 103 extend perpendicularly from the left and right end portions of the fixed plate 101 toward the cam 28 side. The support shaft 87 is supported by the right side support plate 102 and the left side support plate 103. The clamp arm 80 can be rotated with the support shaft 87 as a fulcrum. A retaining spring 104 is provided at the center of the upper end portion of the fixed plate 101. The retaining spring 104 is used to hold the leaf spring of the roller 8 of the rotatable gripping arm 80. The retaining spring 104 includes the first holding portion 105 and the second holding portion 106, -20-200920541 and the third holding portion 107. The first holding portion 051 extends upward from the center of the upper end portion of the fixing plate 101 and has a rectangular plate shape. The second holding portion 1 〇6 is bent in a substantially vertical direction from the front end portion of the first holding portion 051. The third holding portion 1 07 extends obliquely upward from the front end portion of the second holding portion 106. The holding spring 408 has the same function (corresponding to the holding member) as the retaining ring 55 of the first embodiment. When the roller 8 8 of the grip arm 80 is pressed against the inside of the holding spring 104, the outer peripheral surface of the roller 8 8 abuts against the corner portion where the second holding portion 106 and the third holding portion 107 are in contact with each other. The roller 88 is biased toward the inside of the holding spring 104 by holding the corner of the spring 104. In the state where the grip portion 83 of the grip arm 80 is moved to the main shaft 30, the posture of the grip arm 80 can be stably maintained by the holding spring 104. Since the grip portion 83 has the same structure as the grip portion 63 of the grip arm 60 of the first embodiment, only the corresponding relationship will be described, and detailed description will be omitted. The bifurcation portion 89 of the grip portion 83 corresponds to the grip portion 63. Fork 6 9 . The support pin 96 of the grip portion 8 3 corresponds to the support pin 76 of the grip portion 63. The cam follower 95 of the grip portion 83 corresponds to the cam follower 75 of the grip portion 63. The cam follower 86 slides along the cam surface 28a of the cam 28 fixed to the front surface of the spindle head 24 shown in Fig. 1. The arm body 81 is rotated about the support shaft 87. The roller support portion 84' holds and supports the roller 88 by two support plates. By guiding the roller 88 on the first guiding faces 92 - 21 - 200920541 and the second guiding face 93 of the guiding holding member 90, the guiding holding member 9 can be guided at the spindle head 24 and the sley 121. The guiding of the roller support portion 84 is performed between them. As a result of using the roller 8 8 as the member slidable on the first guide surface 92 and the second guide surface 93 of the guide holding member 90, the roller 8 8 and the first guide surface 92 can be reduced. The friction between the second guiding faces 93. The roller 8 8 shown in Fig. 4 corresponds to the "roller" of the present invention. Next, the swirling action of the gripping arm 80 will be described with reference to Figs. 5 to 7. Fig. 6 shows a state in which the grip arm 80 is rotationally positioned to the lowermost end of the sley 121 and moved to the position closest to the main shaft 30, and the spindle head 24 is slightly moved downward. The cam follower 95 abuts against the cam surface 29a of the fixed cam 29. The cam follower 86 abuts against the cam surface 28a of the cam 28. When the spindle head 24 is raised from this state, the cam surface 28a of the cam 28 biases the wheel follower 86 away from the spindle head 24. When the grip arm 80 is viewed from the right side surface, it is rotated counterclockwise, and the cam follower 9 5 is moved rearward along the cam surface 29a of the fixed cam 29. As a result of the gripping arm 80 being rotated in the counterclockwise direction as viewed from the right side, the roller 8 8 moves toward the inside of the holding spring 104. As a result, as shown in Fig. 5, the corner portions formed by the second holding portion 106 and the second holding portion 107 return the roller 8 8 toward the inside of the holding spring 104. Thus, the state of the roller 8 8 is maintained by holding the inner side of the spring 1 〇4. In the state where the grip portion 8 of the grip arm 80 of the positioning position is moved to the rear side, the posture of the grip arm 80 is stabilized by the holding spring 104. When the spindle head 24 is lowered, the fixed cam 29 biases the cam follower 95 of the clamp arm 80 downward. If the fixed cam 29 biases the cam follower -22-200920541 9.5 downward, as shown in Fig. 6, the cam follower 9 5 slides forward along the cam surface 29a. The gripping arm 80' is rotated clockwise as viewed from the right side. The roller 8 8 is separated from the inner side of the holding spring 104, and rolls toward the spindle head 24 side along the first guiding surface 92 of the guiding holding member 90. As shown in Fig. 5, the compression coil spring 78 presses one end of the guide holding member 90 on the side of the shank 121 toward the spindle head 24 side. When the roller 88 abuts against the first guide surface 92 of the guide holding member 90, the roller 88 opposes the elastic force of the compression coil spring 78, and pushes the first guide surface 92 toward the sley 121 side. The compression coil spring 7S is compressed by the crucible support 137 and the guide holding member 90, and the guide holding member 90 is slightly rotated clockwise when viewed from the right side. When the roller 88 rolls toward the spindle head 24 side along the first guiding surface 92 and passes through the position closest to the cymbal support table 137, the relative distance between the roller 88 and the compression coil spring 78 is gradually elongated. By the compression of the compression coil spring 78, the guide holding member 90 is gradually rotated counterclockwise as viewed from the right side. As shown in Fig. 7, when the roller 88 is rolled to the second guide surface 93, the biasing force of the compression coil spring 78 causes the guide holding member 90 to be further rotated counterclockwise as viewed from the right side. The curved surface of the second guiding surface 93 abuts against the outer circumferential surface of the roller 88, and the second guiding surface 93 restricts the movement of the roller 88. The roller 8 8 is held in this position by the guide holding member 90. In a state where the grip portion 83 is moved away from the retracted position of the main shaft 30, the posture of the grip arm 80 that is rotationally positioned to the lowermost end of the sley 121 is held by the guide holding member 90. The tool changer 120' of the second embodiment is rotationally positioned to the rear end side of the grip arm 80 at the lowermost end of the 匣-23-200920541 seat 221 by the guide holding mechanism 90. In order to support the guide holding member 90, instead of the seat 121, the crucible support table 137 is used. Therefore, the amount of load of the guide holding member 90 is not applied to the sley 121. As a result, the tool changer 120 causes the sley 1 1 1 to rotate rapidly. The guide holding member 90 is disposed only at a position opposed to the roller of the gripping arm 80 of the gripping position (the lowermost end of the sley 1 1 1). The tool changer 120 can make the guide holding member 90 smaller and the structure around the sley 121 more compact than the clamp support collar 2 10 shown in Fig. 8. As a result, the tool changer 120 facilitates the exchange or maintenance of components. The tool exchange assembly 120' enables a simpler construction around the sley 121. As a result, in the exchange device 120, the servo motor 130 and the encoder 131 can be disposed inside the cover 1 1 9 to prevent the cutting powder or the cutting fluid from adhering to the servo horse 130 and the encoder 1 31. In the first embodiment, the servo motor 50 is disposed on the outer side of the lid, but the inner portion of the lid 9 can be disposed as in the second embodiment. In the first embodiment, the guide member 70 is It is fixed to the crucible support table 37 through the support plate 52, but can also be directly fixed to the crucible support table 37. In the first embodiment and the second embodiment, the pivot axes of the cymbals 41 and 121 are inclined with respect to the moving direction of the spindle head 24. The rotation axis of 匣 4 1 and 1 2 1 may be formed with respect to the moving direction of the spindle head 24 .匣 匣 能 88 且 且 且 且 且 且 且 且 19 19 19 19 19 19 19 19 19 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 24 Fig. 2 is a perspective view showing the positional relationship between the grip arm 60, the retaining ring 55, the guide member 7A, the cam 28, and the fixed cam 29. Fig. 3 is a longitudinal sectional view showing the main parts of the machine tool and the tool changing device 2. Fig. 4 is a perspective view showing the positional relationship between the grip arm 8A, the guide holding member 90, the cam 28, and the fixed cam 29. Fig. 5 is an explanatory view of the rotation of the gripping arm 80 (the state of the roller 88 is maintained by the holding spring 104). Fig. 6 is an explanatory view of the rotation of the grip arm 80 (a state in which the roller 88 abuts on the first guide surface 92). Fig. 7 is an explanatory view of the rotation of the grip arm 80 (the state in which the roller 88 abuts against the second guide surface 93). Fig. 8 is a cross-sectional view showing a supporting structure of a grip arm 250 of a conventional tool changing device 200. [Explanation of main component symbols] 1 : Working machine 2, 120, 200: Tool changer 5: Tool 7: Tool holder 7a: Cone mounting section - 25 - 200920541 7b : Handled member 1 机: Machine column 1 2 : Ball screw 1 3 : Nut 1 4 : Upper bearing part 1 5 = Lower bearing part 17, 66, 75, 86, 95, 253: Cam follower 18, 1 1 8 : Frame 1 9 , 1 1 9 : Clamshell 20 : Rod 20a : Horizontal bar 2 0 b : Vertical bar 21 , 25 , 45 , 67 , 87 , 201 , 252 : Support shaft 22 , 50 , 130 : Servo motor 2 3 : Coupling 2 4: spindle head 28: cam 28a, 29a: cam surface 29: fixed cam 30: spindle 3 1 : tapered opening 32 · 'holding holder holding member 3 4 : tie rod 35 : pin -26- 200920541 3 6 : plate cam Body 37: 匣 support table 38, 78, 129, 25 7 : compression coil spring 3 9 : tension coil spring 41, 121, 202: sill 4 2 : flange portion 43, 202a: boss portion 46: bearing 47 : Round plate 5 1 : Housing 5 2 : Support plate 5 5 '·Retaining ring 5 5a, 212 : Grooves 60, 80, 250: Clamping arms 61, 81: Arm bodies 62, 251, 100: Pivot table 6 2 a : fixing part 6 2b: shaft support portions 63, 83, 255: grip portion 64_- abutment portions 65, 85: cam follower support portions 68, 135, 258: steel balls 69, 89: bifurcation portion 70 _• guide member -27- 200920541 71 : 72 : 72a 76 , 84 : 88 : 90 : 91 : 92 : 93 : 94 : 97 : 10 1 102 103 104 105 106 1 07 122 123 124 126 127 Joint guide , 21 1 : Guide surface 9 6 : support pin roller support portion roller guide holding member support shaft portion first guide surface second guide surface concave portion cover body: fixing plate: right side support plate: left side support plate = holding spring: 1 holding portion: second holding portion: third holding portion: speed reducer: input shaft: output shaft = ball bearing portion: brake gear -28 200920541 1 28 : gear 1 3 1 : encoder 1 3 7 : 匣 support table 2 1 0 : Clamping support collar 2 5 6 : Boring